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<div class="title">PositionVelocityEstimator.h</div>  </div>
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<a href="../../df/ddd/_position_velocity_estimator_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#ifndef PROJECT_POSITIONVELOCITYESTIMATOR_H</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#define PROJECT_POSITIONVELOCITYESTIMATOR_H</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d8/d87/_state_estimator_container_8h.html">Controllers/StateEstimatorContainer.h</a>&quot;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html">   16</a></span>&#160;<span class="keyword">class </span><a class="code" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html">LinearKFPositionVelocityEstimator</a> : <span class="keyword">public</span> <a class="code" href="../../d9/d0a/class_generic_estimator.html">GenericEstimator</a>&lt;T&gt; {</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; <span class="keyword">public</span>:</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  <a class="code" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a6fcb890559e303e4c8e13cef4dd6c4d9">LinearKFPositionVelocityEstimator</a>();</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a5a71e5a86165a39dda4c6ad81304299a">run</a>();</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#aa6cde24b1d9be72b01cfae1534e7580f">setup</a>();</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160; <span class="keyword">private</span>:</div><div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#ac76b7ba72dc4685b9d02ecfea214ebbe">   24</a></span>&#160;  Eigen::Matrix&lt;T, 18, 1&gt; <a class="code" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#ac76b7ba72dc4685b9d02ecfea214ebbe">_xhat</a>;</div><div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a6b6067ad1d05d06aba1c8e74790fc6fc">   25</a></span>&#160;  Eigen::Matrix&lt;T, 12, 1&gt; <a class="code" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a6b6067ad1d05d06aba1c8e74790fc6fc">_ps</a>;</div><div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a8fd165d0d57d1a13849922a6135b35d0">   26</a></span>&#160;  Eigen::Matrix&lt;T, 12, 1&gt; <a class="code" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a8fd165d0d57d1a13849922a6135b35d0">_vs</a>;</div><div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a99444a1a5c61d86da6c17a42591521cf">   27</a></span>&#160;  Eigen::Matrix&lt;T, 18, 18&gt; <a class="code" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a99444a1a5c61d86da6c17a42591521cf">_A</a>;</div><div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#ad64c01c5946ece39909399d8c0cb08f1">   28</a></span>&#160;  Eigen::Matrix&lt;T, 18, 18&gt; <a class="code" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#ad64c01c5946ece39909399d8c0cb08f1">_Q0</a>;</div><div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#ac348c53b1045126d25f36e77cf5f946a">   29</a></span>&#160;  Eigen::Matrix&lt;T, 18, 18&gt; <a class="code" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#ac348c53b1045126d25f36e77cf5f946a">_P</a>;</div><div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#ab9718e7e2b7b50aaa897c9d7c188ff53">   30</a></span>&#160;  Eigen::Matrix&lt;T, 28, 28&gt; <a class="code" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#ab9718e7e2b7b50aaa897c9d7c188ff53">_R0</a>;</div><div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a575646ecd05c8a10ccaded17c864fb4a">   31</a></span>&#160;  Eigen::Matrix&lt;T, 18, 3&gt; <a class="code" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a575646ecd05c8a10ccaded17c864fb4a">_B</a>;</div><div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a5126ad3aca4468ee6c770a62bf8fa09f">   32</a></span>&#160;  Eigen::Matrix&lt;T, 28, 18&gt; <a class="code" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a5126ad3aca4468ee6c770a62bf8fa09f">_C</a>;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;};</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="../../d1/d10/class_cheater_position_velocity_estimator.html">   36</a></span>&#160;<span class="keyword">class </span><a class="code" href="../../d1/d10/class_cheater_position_velocity_estimator.html">CheaterPositionVelocityEstimator</a> : <span class="keyword">public</span> <a class="code" href="../../d9/d0a/class_generic_estimator.html">GenericEstimator</a>&lt;T&gt; {</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a5a71e5a86165a39dda4c6ad81304299a">run</a>();</div><div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="../../d1/d10/class_cheater_position_velocity_estimator.html#a7715cb7e97c13f8eaae1f1805904a791">   39</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="../../d1/d10/class_cheater_position_velocity_estimator.html#a7715cb7e97c13f8eaae1f1805904a791">setup</a>() {}</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;};</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#endif  // PROJECT_POSITIONVELOCITYESTIMATOR_H</span></div><div class="ttc" id="class_linear_k_f_position_velocity_estimator_html_a5a71e5a86165a39dda4c6ad81304299a"><div class="ttname"><a href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a5a71e5a86165a39dda4c6ad81304299a">LinearKFPositionVelocityEstimator::run</a></div><div class="ttdeci">virtual void run()</div><div class="ttdef"><b>Definition:</b> <a href="../../d6/d39/_position_velocity_estimator_8cpp_source.html#l00054">PositionVelocityEstimator.cpp:54</a></div></div>
<div class="ttc" id="class_generic_estimator_html"><div class="ttname"><a href="../../d9/d0a/class_generic_estimator.html">GenericEstimator</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00073">StateEstimatorContainer.h:73</a></div></div>
<div class="ttc" id="class_linear_k_f_position_velocity_estimator_html_a6fcb890559e303e4c8e13cef4dd6c4d9"><div class="ttname"><a href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a6fcb890559e303e4c8e13cef4dd6c4d9">LinearKFPositionVelocityEstimator::LinearKFPositionVelocityEstimator</a></div><div class="ttdeci">EIGEN_MAKE_ALIGNED_OPERATOR_NEW LinearKFPositionVelocityEstimator()</div><div class="ttdef"><b>Definition:</b> <a href="../../d6/d39/_position_velocity_estimator_8cpp_source.html#l00051">PositionVelocityEstimator.cpp:51</a></div></div>
<div class="ttc" id="class_linear_k_f_position_velocity_estimator_html_ab9718e7e2b7b50aaa897c9d7c188ff53"><div class="ttname"><a href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#ab9718e7e2b7b50aaa897c9d7c188ff53">LinearKFPositionVelocityEstimator::_R0</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 28, 28 &gt; _R0</div><div class="ttdef"><b>Definition:</b> <a href="../../df/ddd/_position_velocity_estimator_8h_source.html#l00030">PositionVelocityEstimator.h:30</a></div></div>
<div class="ttc" id="class_linear_k_f_position_velocity_estimator_html_aa6cde24b1d9be72b01cfae1534e7580f"><div class="ttname"><a href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#aa6cde24b1d9be72b01cfae1534e7580f">LinearKFPositionVelocityEstimator::setup</a></div><div class="ttdeci">virtual void setup()</div><div class="ttdef"><b>Definition:</b> <a href="../../d6/d39/_position_velocity_estimator_8cpp_source.html#l00004">PositionVelocityEstimator.cpp:4</a></div></div>
<div class="ttc" id="class_cheater_position_velocity_estimator_html_a7715cb7e97c13f8eaae1f1805904a791"><div class="ttname"><a href="../../d1/d10/class_cheater_position_velocity_estimator.html#a7715cb7e97c13f8eaae1f1805904a791">CheaterPositionVelocityEstimator::setup</a></div><div class="ttdeci">virtual void setup()</div><div class="ttdef"><b>Definition:</b> <a href="../../df/ddd/_position_velocity_estimator_8h_source.html#l00039">PositionVelocityEstimator.h:39</a></div></div>
<div class="ttc" id="class_linear_k_f_position_velocity_estimator_html_ac348c53b1045126d25f36e77cf5f946a"><div class="ttname"><a href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#ac348c53b1045126d25f36e77cf5f946a">LinearKFPositionVelocityEstimator::_P</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 18, 18 &gt; _P</div><div class="ttdef"><b>Definition:</b> <a href="../../df/ddd/_position_velocity_estimator_8h_source.html#l00029">PositionVelocityEstimator.h:29</a></div></div>
<div class="ttc" id="class_linear_k_f_position_velocity_estimator_html_ac76b7ba72dc4685b9d02ecfea214ebbe"><div class="ttname"><a href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#ac76b7ba72dc4685b9d02ecfea214ebbe">LinearKFPositionVelocityEstimator::_xhat</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 18, 1 &gt; _xhat</div><div class="ttdef"><b>Definition:</b> <a href="../../df/ddd/_position_velocity_estimator_8h_source.html#l00024">PositionVelocityEstimator.h:24</a></div></div>
<div class="ttc" id="class_linear_k_f_position_velocity_estimator_html_a99444a1a5c61d86da6c17a42591521cf"><div class="ttname"><a href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a99444a1a5c61d86da6c17a42591521cf">LinearKFPositionVelocityEstimator::_A</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 18, 18 &gt; _A</div><div class="ttdef"><b>Definition:</b> <a href="../../df/ddd/_position_velocity_estimator_8h_source.html#l00027">PositionVelocityEstimator.h:27</a></div></div>
<div class="ttc" id="class_linear_k_f_position_velocity_estimator_html_a5126ad3aca4468ee6c770a62bf8fa09f"><div class="ttname"><a href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a5126ad3aca4468ee6c770a62bf8fa09f">LinearKFPositionVelocityEstimator::_C</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 28, 18 &gt; _C</div><div class="ttdef"><b>Definition:</b> <a href="../../df/ddd/_position_velocity_estimator_8h_source.html#l00032">PositionVelocityEstimator.h:32</a></div></div>
<div class="ttc" id="class_cheater_position_velocity_estimator_html"><div class="ttname"><a href="../../d1/d10/class_cheater_position_velocity_estimator.html">CheaterPositionVelocityEstimator</a></div><div class="ttdef"><b>Definition:</b> <a href="../../df/ddd/_position_velocity_estimator_8h_source.html#l00036">PositionVelocityEstimator.h:36</a></div></div>
<div class="ttc" id="_state_estimator_container_8h_html"><div class="ttname"><a href="../../d8/d87/_state_estimator_container_8h.html">StateEstimatorContainer.h</a></div></div>
<div class="ttc" id="class_linear_k_f_position_velocity_estimator_html_a6b6067ad1d05d06aba1c8e74790fc6fc"><div class="ttname"><a href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a6b6067ad1d05d06aba1c8e74790fc6fc">LinearKFPositionVelocityEstimator::_ps</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 12, 1 &gt; _ps</div><div class="ttdef"><b>Definition:</b> <a href="../../df/ddd/_position_velocity_estimator_8h_source.html#l00025">PositionVelocityEstimator.h:25</a></div></div>
<div class="ttc" id="class_linear_k_f_position_velocity_estimator_html_a575646ecd05c8a10ccaded17c864fb4a"><div class="ttname"><a href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a575646ecd05c8a10ccaded17c864fb4a">LinearKFPositionVelocityEstimator::_B</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 18, 3 &gt; _B</div><div class="ttdef"><b>Definition:</b> <a href="../../df/ddd/_position_velocity_estimator_8h_source.html#l00031">PositionVelocityEstimator.h:31</a></div></div>
<div class="ttc" id="class_linear_k_f_position_velocity_estimator_html_ad64c01c5946ece39909399d8c0cb08f1"><div class="ttname"><a href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#ad64c01c5946ece39909399d8c0cb08f1">LinearKFPositionVelocityEstimator::_Q0</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 18, 18 &gt; _Q0</div><div class="ttdef"><b>Definition:</b> <a href="../../df/ddd/_position_velocity_estimator_8h_source.html#l00028">PositionVelocityEstimator.h:28</a></div></div>
<div class="ttc" id="class_linear_k_f_position_velocity_estimator_html"><div class="ttname"><a href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html">LinearKFPositionVelocityEstimator</a></div><div class="ttdef"><b>Definition:</b> <a href="../../df/ddd/_position_velocity_estimator_8h_source.html#l00016">PositionVelocityEstimator.h:16</a></div></div>
<div class="ttc" id="class_linear_k_f_position_velocity_estimator_html_a8fd165d0d57d1a13849922a6135b35d0"><div class="ttname"><a href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a8fd165d0d57d1a13849922a6135b35d0">LinearKFPositionVelocityEstimator::_vs</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 12, 1 &gt; _vs</div><div class="ttdef"><b>Definition:</b> <a href="../../df/ddd/_position_velocity_estimator_8h_source.html#l00026">PositionVelocityEstimator.h:26</a></div></div>
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